PhysX Plugin Errors on Executing Demo and Test Scripts

[AkgunOnur]

Dear Developers,

I hope this message finds you well. I am reaching out to report a couple of issues encountered while working with the examples provided in the repository. These errors are related to the PhysX plugin when attempting to execute _demodrone.py and _testdragon.py from the examples directory. Your assistance in resolving these would be greatly appreciated, as it would significantly aid in the continuation of our project work.

Issue 1: Error executing demo_drone.py

• File: demo_drone.py in the examples directory
• Error Message: 2024-02-08 10:37:52 [9,598ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/envs/env_0/Hummingbird_1/rotor_2 2024-02-08 10:37:52 [9,598ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationLink::setGlobalPose(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/physx/src/NpArticulationLink.cpp, LINE 343

Issue 2: Error executing test_dragon.py

• File: test_dragon.py in the examples directory
• Error Message: 2024-02-08 10:44:25 [7,861ms] [Error] [omni.physx.plugin] Transformation change on non-root links is not supported. Link: /World/envs/env_0/dragon_0/link_3/rotor_1

Both errors seem to point towards limitations or issues within the PhysX plugin regarding transformation changes on non-root links. This is impacting our ability to successfully run the provided examples and further explore the capabilities of your framework.

Could you please provide guidance on how to resolve or work around these errors? Any advice or updates that could help us overcome these issues would be immensely valuable.

Thank you for your time and effort in maintaining this project. We look forward to any support you can offer to help us address these challenges.

Best regards,

[SuuTTT]

use isaac_sim-2023.1.0-hotfix.1, i got same error with isaac_sim-2023.1.2 @AkgunOnur